#ifndef _INTERFACE_BACKEND_H
#define _INTERFACE_BACKEND_H
#include <QObject>
#include <QByteArray>

#include "_Interface/_global_datastruct.h"

class  BackendInterface : public QObject{
public:
    BackendInterface(){}
    ~BackendInterface(){}

public:
    virtual short KUKAProcess() = 0;

    virtual short getKUKARIst(double (&KUKARIst)[6]) = 0;
    virtual short getKUKAAIst(double (&KUKAAIst)[6]) = 0;
    virtual short getKUKAATor(double (&KUKAATor)[6]) = 0;

    virtual short setKUKARInc(double KUKARInc[6]) = 0;

    virtual short ForceSensorConnect() = 0;
    virtual short ForceSensorLoopRun() = 0;
    virtual short ForceSensorZeroDeal() = 0;
    virtual short ReadForceSensorData(double (&Data)[6]) = 0;

};

#endif // _INTERFACE_BACKEND_H
